Stable Haptic Interaction and Control

Haptic feedback involves direct physical interaction between a human and the haptic device. Therefore, particular importance must be attached to stable control. Violating stability may result in uncontrollable oscillations that make any reasonable interaction impossible, and moreover, can even harm the human operator. We research on stable haptic control, not only to understand the influence of involved system parameters, but rather to get the best out of our haptic devices and make the interaction with a virtual reality or during telemanipulation applications as realistic and effective as possible.